cmake_minimum_required(VERSION 3.8)
project(bot_nav)

if(CMAKE_COMPILER_IS_GNUCXX OR CMAKE_CXX_COMPILER_ID MATCHES "Clang")
  add_compile_options(-Wall -Wextra -Wpedantic)
endif()

# find dependencies
find_package(ament_cmake REQUIRED)
find_package(rclpy REQUIRED)
find_package(rclcpp REQUIRED)
find_package(rclcpp_action REQUIRED)
find_package(geometry_msgs REQUIRED)
find_package(nav2_common REQUIRED)
find_package(nav2_msgs REQUIRED)
find_package(nav2_util REQUIRED)
find_package(nav2_core REQUIRED)
find_package(visualization_msgs REQUIRED)
# uncomment the following section in order to fill in
# further dependencies manually.
# find_package(<dependency> REQUIRED)

if(BUILD_TESTING)
  find_package(ament_lint_auto REQUIRED)
  # the following line skips the linter which checks for copyrights
  # comment the line when a copyright and license is added to all source files
  set(ament_cmake_copyright_FOUND TRUE)
  # the following line skips cpplint (only works in a git repo)
  # comment the line when this package is in a git repo and when
  # a copyright and license is added to all source files
  set(ament_cmake_cpplint_FOUND TRUE)
  ament_lint_auto_find_test_dependencies()
endif()

add_executable(navigation_node src/navigation_node.cpp)

ament_target_dependencies(navigation_node
  rclcpp
  rclcpp_action
  geometry_msgs
  nav2_msgs
  nav2_util
  nav2_core
  visualization_msgs
  )

install(TARGETS navigation_node
  DESTINATION lib/${PROJECT_NAME}
)


install(PROGRAMS
  scripts/waypoint_follower.py
  scripts/farm_wf.py
  DESTINATION lib/${PROJECT_NAME}
)
install(
  DIRECTORY
    config
    launch
    maps
    rviz
  DESTINATION
    share/${PROJECT_NAME}
)
ament_package()
